dart::dynamics::HierarchicalIK::Function Class Reference

This class should be inherited by optimizer::Function classes that have a dependency on the HierarchicalIK module that they belong to. More...

#include <HierarchicalIK.hpp>

Inheritance diagram for dart::dynamics::HierarchicalIK::Function:

Public Member Functions
virtual optimizer::FunctionPtr	clone (const std::shared_ptr< HierarchicalIK > &_newIK) const =0
	Enable this function to be cloned to a new IK module. More...
virtual	~Function ()=default
	Virtual destructor. More...

Detailed Description

This class should be inherited by optimizer::Function classes that have a dependency on the HierarchicalIK module that they belong to.

If you pass an HierarchicalIK::Function into the Problem of an HierarchicalIK module, then it will be properly cloned whenever the HierarchicalIK module that it belongs to gets cloned. Any Function classes in the Problem that do not inherit HierarchicalIK::Function will just be copied over by reference.

Constructor & Destructor Documentation

~Function()

virtual dart::dynamics::HierarchicalIK::Function::~Function ( )

virtualdefault

Virtual destructor.

Member Function Documentation

clone()

virtual optimizer::FunctionPtr dart::dynamics::HierarchicalIK::Function::clone ( const std::shared_ptr< HierarchicalIK > &  _newIK ) const

pure virtual

Enable this function to be cloned to a new IK module.

Implemented in dart::dynamics::HierarchicalIK::Constraint, and dart::dynamics::HierarchicalIK::Objective.